LoLA Client

To run the client that connects to LoLA, run:

ros2 run nao_lola_client nao_lola_client

Published Topics

sensors/accelerometer (nao_lola_sensor_msgs::msg::Accelerometer <Accelerometer>)
sensors/angle (nao_lola_sensor_msgs::msg::Angle <Angle>)
sensors/buttons (nao_lola_sensor_msgs::msg::Buttons <Buttons>)
sensors/fsr (nao_lola_sensor_msgs::msg::FSR <FSR>)
sensors/gyroscope (nao_lola_sensor_msgs::msg::Gyroscope <Gyroscope>)
sensors/joint_positions (nao_lola_sensor_msgs::msg::JointPositions <sensor_joint_positions>)
sensors/joint_stiffnesses (nao_lola_sensor_msgs::msg::JointStiffnesses <sensor_joint_stiffnesses>)
sensors/joint_temperatures (nao_lola_sensor_msgs::msg::JointTemperatures <JointTemperatures>)
sensors/joint_currents (nao_lola_sensor_msgs::msg::JointCurrents <JointCurrents>)
sensors/joint_statuses (nao_lola_sensor_msgs::msg::JointStatuses <JointStatuses>)
sensors/sonar (nao_lola_sensor_msgs::msg::Sonar <Sonar>)
sensors/touch (nao_lola_sensor_msgs::msg::Touch <Touch>)
sensors/battery (nao_lola_sensor_msgs::msg::Battery <Battery>)
sensors/robot_config (nao_lola_sensor_msgs::msg::RobotConfig <RobotConfig>)

The following topics are available depending on parameters:

imu (sensor_msgs::msg::Imu) - if publish_imu <publish_imu> parameter is set to true
joint_states (sensor_msgs::msg::JointState) - if publish_joint_states <publish_joint_states> parameter is set to true

effectors/joint_positions (nao_lola_command_msgs::msg::JointPositions <command_joint_positions>)
effectors/joint_stiffnesses (nao_lola_command_msgs::msg::JointStiffnesses <command_joint_stiffnesses>)
effectors/chest_led (nao_lola_command_msgs::msg::ChestLed <ChestLed>)
effectors/left_ear_leds (nao_lola_command_msgs::msg::LeftEarLeds <LeftEarLeds>)
effectors/right_ear_leds (nao_lola_command_msgs::msg::RightEarLeds <RightEarLeds>)
effectors/left_eye_leds (nao_lola_command_msgs::msg::LeftEyeLeds <sensor_LeftEyeLeds>)
effectors/right_eye_leds (nao_lola_command_msgs::msg::RightEyeLeds <sensor_RightEyeLeds>)
effectors/left_foot_led (nao_lola_command_msgs::msg::LeftFootLed <sensor_LeftFootLed>)
effectors/right_foot_led (nao_lola_command_msgs::msg::RightFootLed <sensor_RightFootLed>)
effectors/head_leds (nao_lola_command_msgs::msg::HeadLeds <sensor_HeadLeds>)
effectors/sonar_usage (nao_lola_command_msgs::msg::SonarUsage <SonarUsage>)

publish_imu (bool, default: true)

Whether to convert nao_lola sensor_msgs/Accelerometer and nao_lola sensor_msgs/Gyroscope to sensor_msgs/Imu and publish it.

publish_joint_states (bool, default: true)

Whether to convert nao_lola sensor_msgs/JointPositions to sensor_msgs/JointState and publish it.